function

Estimation.MocapExternalOdometryErrorState.poseMeasurementMatrix

Pose observation map in tangent coordinates

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
output	`H`	`MeasurementMatrix`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function poseMeasurementMatrix "Pose observation map in tangent coordinates"
  output MeasurementMatrix H;
algorithm
  H := zeros(MeasurementLength, TangentLength);
  H[1:3, 1:3] := identity(3);
  H[4:6, 7:9] := identity(3);
end poseMeasurementMatrix;